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|delphi-rsds / delphi-srr|
Supported hardware versions
The driver interface communicates with the RSDS using the CAN interface.
|Hardware model||L2C0055TR or L2C0059TR|
Sensor background and requirements
Delphi’s Rear and Side Detection System (RSDS) helps make drivers aware of approaching vehicles when changing lanes or making turns. By providing an alert when a vehicle has entered a blind spot to the rear or side of the vehicle, RSDS helps give drivers more time to react to obstacles that may be difficult to see in the side mirror.
Using a globally-accepted, 76GHz, single-beam mono-pulse radar, Delphi’s RSDS has better Doppler discrimination, wider bandwidth and a smaller RF window than 24GHz systems. Additional benefits of the 76GHz system include:
- Higher quality target discrimination
- Superior minimum range, range accuracy, range discrimination and longer range capability
- Simplified vehicle integration
Alerts are determined by the vehicle manufacturer and can include audible chimes and/or visual indicators in the side mirrors. To reduce the possibility of nuisance warnings, audible alerts can be automatically deactivated when the turn signal is being used.
Delphi’s Rear and Side Detection System helps to reduce the potential for accidents, injury and costly property damage and enables multiple consumer-desired safety features.
- The driver requires a unique sensor identifier for each RSDS sensor, even when there’s only one sensor on the system
- The RADAR data is provided in radial coordinates in 2D
- Each RADAR track has a lateral rate provided in polar coordinates, which is the tangential velocity in Cartesian
- The driver optionally provides Cartesian velocity vector calculations for RADAR tracks
- It’s strongly recommended to provide platform motion data to the sensor when this feature is enabled
- Power and data harness, typically provided by OEM or reseller
- CAN High/Low signals should be wired to DB9 pins 7⁄2 respectfully, with a terminating 120Ohm resistor
- 12V power supply
- CAN interface on the ECU, compatible with linuxcan or socketcan hardware drivers
- ECU with PolySync Core installed
Configuring the ECU
The ECUs CAN network needs to be configured to use one of the two compatible CAN interfaces: Kvaser’s linuxcan or socketcan.
Setup the CAN interfaces on the ECU to enable the driver to communicate with the sensor.
Configuring the PolySync driver
Adding the sensor to the SDF
Using the Configurator tool, add a sensor node to the SDF.
The ‘Node Interface’ names are
CAN Hardware and Circuit Identifiers
Each CAN interface on the ECU has a unique identifier that enables software applications like the PolySync Core driver to identify and connect to the appropriate CAN channel.
Locate the CAN hardware and circuit identifiers based on the CAN drivers installed on your system.
CAN Channel 0 Hardware Identifier and
CAN Channel 0 Circuit Identifier in the Configurator.
Parse the sensor identifier
The driver needs the RSDSs sensor identifier to validate the hardware device while initializing the connection.
The PolySync Core driver can parse the identifier when started on the command line, after the CAN hardware and circuit identifiers have been entered in the Configurator.
Enter the sensor identifier in the Configurator node entry’s
Sensor 0 Identifier parameter field, located at the top of the Sensor Configuration table.
Validating the sensor is properly configured
If you’re approaching a new PolySync system or need to validate an existing configuration you can use the following checklist to ensure the sensor is properly configured.
The RSDS does not begin writing data to the CAN bus until it receives a command from the driver, so you’re not able to sniff the CAN bus for data. However if the sensor passes these checks then the PolySync dynamic driver will be able to communicate with the sensor.
- The sensor is powered with 12V
- The CAN bus is terminated with a 12O Ohm resistor
- The PolySync Core driver is able to parse the sensor identifier
Starting the PolySync driver
The configuration set in the Configurator is loaded from the SDF when the dynamic driver starts. It connects to the sensor over the CAN interface, requests the data, and waits for confirmation that the sensor configuration is valid.
When the dynamic driver receives the first full frame of data it begins processing the data, abstracting the data from the OEM data structure in a high-level hardware agnostic message type. In this case the data is placed in a
- Power the sensor and ECU on
- Optionally follow the setup checklist
- Start the PolySync Core manager
$ sudo service polysync-core-manager start
- Start the dynamic driver process
Starting the node manually on the command line
To start a dynamic driver node on the command line, the node must first be defined in the SDF using the Configurator application.
Each node defined in the Configurator has a unique node ID which points to the nodes configuration. This article explains how to find the node ID.
Command line flags and usage
Once the node ID is known (substitute for
X), the dynamic driver node for the supported sensor can be started with the base command:
$ polysync-core-dynamic-driver -n X
Each sensor supports an array of command line arguments. To see a full list of command line arguments, pass the
-h help flag:
$ polysync-core-dynamic-driver -n X -h | less
There’s a lot of output so we recommend you pipe the output to
less, but it’s not required.
||No||Use the provided CAN channel system index, instead of what is stored in the SDF||The system index is the mechanism used by the linuxcan or socketcan drivers to enumerate the drivers to the linux kernel|
||No||Export a JSON support string describing the interface, used by the SDF configuration tool|
||No||Parse the sensor serial identifier from the Delphi RSDS/SRR interface|
||No||Show the help message|
||No||Use provided PAL interface file instead of what is stored in the SDF||Path to the dynamic driver interface PAL shared object library|
||Yes||SDF node configuration identifier for the node||SDF node ID from the Configurator, [0-65536]|
||No||Check the node SDF configuration for required updates and exit option, returns exit status zero if no changes are required|
||No||Use provided logfile in Record and Replay operations instead of the default||File path to a PolySync
||No||SDF runtime configuration key that specifies the domain to operated under, the default domain is used otherwise||Runtime configuration key, [0-65536]|
||No||Use provided SDF instead of the default||File path to an SDF file|
||No||perform a validation test on the Delphi interface|
||No||Allow updates to the SDF configuration during the normal runtime if needed (does not exit)|
||No||Update the node SDF configuration and exit|
||No||Disable the hardware interface(s), allowing the node to run without hardware connected - also known as replay mode|
DTC codes and common fixes
|DTC value||DTC name||Fault description||Notes|
|304||DTC_NOINTERFACE||Interface not available||Activated when the sensor is not reachable at the IP address set in the Configurator; activated when the sensor becomes unreachable during runtime|
Accessing sensor data
When the dynamic driver node is operating in an
OK state then data is being published to the global PolySync bus, and any node can subscribe to the high-level message type(s) output by the dynamic driver node.
There are several tools that PolySync provides to quickly validate that data exists on the bus.
Access sensor data with PolySync nodes that subscribe to the sensor’s output message types.
Input / output message types
||Sensor Data Model||Publishing is enabled by default|
||Core Data Model||Publishing is disabled by default, the message buffer contains the raw data received from the sensor over the CAN bus|
Enable and disable the publishing of specific message types in the Configurator.
RADAR target message fields
|Data type||Name||Description||Message field populated by this sensor|
|ps_msg_header||header||PolySync message header||Yes|
|ps_sensor_descriptor||sensor_descriptor||sensor descriptor identifying the publisher||Yes|
|Data type||Name||Description||Message field populated by this sensor|
|ps_identifier||id||The track identifier||Yes|
|ps_timestamp||timestamp||UTC timestamp when this target was received by PolySync||Yes|
|DDS_double||position||Position of target. Value PSYNC_POSITION_NOT_AVAILABLE means given axis component not available. [xyz meters]||Yes|
|DDS_double||size||Size of target. Value PSYNC_SIZE_NOT_AVAILABLE means given axis component not available. [xyz meters]||No|
|DDS_double||velocity||Velocity of target. Value PSYNC_VELOCITY_NOT_AVAILABLE means given axis component not available. [xyz meters/second]||No|
|DDS_double||range_rate||Range rate (or sometimes the Doppler velocity) of target. Value PSYNC_VELOCITY_NOT_AVAILABLE means not available. [meters/second]||Yes|
|ps_track_status_kind||track_status||If this target is a track, this provides its status if supported. Value TRACK_STATUS_RAW_TARGET means this is a raw target/measurement and not a track.||Yes|
|ps_range_kind||range_type||Target range type.||Yes|
|ps_zone_kind||zone_type||Target zone type.||Yes|
|DDS_double||amplitude||Target amplitude. Value PSYNC_AMPLITUDE_NOT_AVAILABLE means not available. [decibels]||Yes|
|DDS_double||magnitude||Target magnitude. Value PSYNC_MAGNITUDE_NOT_AVAILABLE means not available. [decibels]||No|
|DDS_double||alias||Target range rate alias (or sometimes the Doppler alias) of target relative to the parent coordinate frame. Value PSYNC_VELOCITY_ALIAS_NOT_AVAILABLE means not available. [meters/second]||No|
|DDS_double||cross_section||Target radar cross section. Value PSYNC_RADAR_CROSS_SECTION_NOT_AVAILABLE means not available. [meters^2]||Yes|
|DDS_unsigned_long||scan_index||Target scan index. Value zero means unknown or not available.||Yes|
Filtering incoming data for this sensor
An application that subscribes to a given message type is able to see data from more than one sensor or source.
Applications can filter for specific sensors and data sources in the message callback in C applications, or the
messageEvent in C++ applications.
Filter incoming messages for the sensors with the following
- SRR Left:
- SRR Right:
- RSDS Left:
- RSDS Right:
You can find all sensor descriptor values in this article.